make format

Author: dakejahl

src/modules/baro_thrust_estimator/BaroThrustEstimator.cpp

@@ -182,7 +182,7 @@ void BaroThrustEstimator::Run()
 
 	// Compute upward linear acceleration and CF residual
 	const float accel_up = BaroThrustCfRls::computeAccelUp(
-					matrix::Vector3f{accel.xyz}, matrix::Quatf{att.q});
+				       matrix::Vector3f{accel.xyz}, matrix::Quatf{att.q});
 
 	const float residual = _estimator.updateCf(air_data.baro_alt_meter, accel_up, dt);
 

src/modules/baro_thrust_estimator/baro_thrust_cf_rls.cpp

@@ -51,7 +51,7 @@ void BaroThrustCfRls::reset()
 }
 
 float BaroThrustCfRls::computeAccelUp(const matrix::Vector3f &accel_body,
-		const matrix::Quatf &attitude)
+				      const matrix::Quatf &attitude)
 {
 	// Rotate body-frame specific force to NED, extract Z component
 	const float specific_force_ned_z = (attitude.rotateVector(accel_body))(2);
@@ -186,8 +186,8 @@ void BaroThrustCfRls::RlsEstimator::update(float residual, float thrust, float d
 	const float e = residual - (theta[0] * phi[0] + theta[1] * phi[1]);
 
 	const float Pphi[2] = {
-		P[0][0] * phi[0] + P[0][1] * phi[1],
-		P[1][0] * phi[0] + P[1][1] * phi[1]
+		P[0][0] *phi[0] + P[0][1] *phi[1],
+		P[1][0] *phi[0] + P[1][1] *phi[1]
 	};
 
 	const float phiPphi = phi[0] * Pphi[0] + phi[1] * Pphi[1];

src/modules/baro_thrust_estimator/baro_thrust_cf_rls.hpp

@@ -82,7 +82,8 @@
 #include <cmath>
 #include <float.h>
 
-class BaroThrustCfRls {
+class BaroThrustCfRls
+{
 public:
 	// --- RLS tuning ---
 	static constexpr float RLS_LAMBDA = 0.998f;     ///< forgetting factor (1.0 = never forget, lower = adapt faster)
@@ -109,8 +110,8 @@ class BaroThrustCfRls {
 	 * P is the 2x2 parameter covariance matrix.
 	 */
 	struct RlsEstimator {
-		float theta[2]{};       ///< [K, bias] parameter estimates
-		float P[2][2]{};        ///< 2x2 parameter covariance
+		float theta[2] {};      ///< [K, bias] parameter estimates
+		float P[2][2] {};       ///< 2x2 parameter covariance
 		float error_var{ERROR_VAR_INIT}; ///< exponentially-weighted prediction error variance
 
 		void reset(float p_init);

src/modules/baro_thrust_estimator/baro_thrust_cf_rls_test.cpp

@@ -84,7 +84,7 @@ TEST_F(BaroThrustCfRlsTest, AccelUpAscending)
 TEST_F(BaroThrustCfRlsTest, AccelUpTilted45Hover)
 {
 	const float theta = 45.f * 3.14159265f / 180.f;
-	const Vector3f accel_body{CONSTANTS_ONE_G *sinf(theta), 0.f, -CONSTANTS_ONE_G *cosf(theta)};
+	const Vector3f accel_body{CONSTANTS_ONE_G * sinf(theta), 0.f, -CONSTANTS_ONE_G * cosf(theta)};
 	const Quatf attitude{Eulerf{0.f, theta, 0.f}};
 
 	const float accel_up = BaroThrustCfRls::computeAccelUp(accel_body, attitude);